| data: |
| root_dir: '' |
| tasks: |
| - pick |
| num_points: 2048 |
| num_object_points: 1024 |
| cam_coord: false |
| num_rotations: 64 |
| grid_resolution: 0.01 |
| jitter_scale: 0.0 |
| contact_radius: 0.005 |
| dist_above_table: 0.002 |
| robot_prob: 1.0 |
| offset_bins: |
| - 0 |
| - 0.00794435329 |
| - 0.0158887021 |
| - 0.0238330509 |
| - 0.0317773996 |
| - 0.0397217484 |
| - 0.0476660972 |
| - 0.055610446 |
| - 0.0635547948 |
| - 0.0714991435 |
| - 0.08 |
| random_seed: -1 |
| rotation_augmentation: false |
| add_depth_noise: false |
| downsample_points: false |
| downsample_to_fixed_batch_size: false |
| dataset_cls: ObjectPickDataset |
| load_patch: false |
| load_discriminator_dataset: false |
| patch_width: 256 |
| prob_point_cloud: -1 |
| object_root_dir: '' |
| grasp_root_dir: '' |
| dataset_name: acronym |
| dataset_version: v1 |
| gripper_name: robotiq_2f_140 |
| num_grasps_per_object: 1000 |
| load_contact: false |
| prefiltering: false |
| discriminator_ratio: |
| - 0.5 |
| - 0.2 |
| - 0.25 |
| - 0.05 |
| - 0.0 |
| visualize_batch: false |
| onpolicy_dataset_dir: null |
| onpolicy_dataset_h5_path: null |
| redundancy: 1 |
| preload_dataset: false |
| m2t2: |
| scene_encoder: |
| type: pointnet2_msg |
| num_points: 16384 |
| downsample: 4 |
| radius: 0.02 |
| radius_mult: 2 |
| use_rgb: false |
| object_encoder: |
| type: pointnet2_msg_cls |
| num_points: 1024 |
| downsample: 4 |
| radius: 0.02 |
| radius_mult: 2 |
| use_rgb: false |
| contact_decoder: |
| mask_feature: res0 |
| in_features: |
| - res1 |
| - res2 |
| - res3 |
| place_feature: res4 |
| embed_dim: 256 |
| feedforward_dim: 512 |
| num_scales: 3 |
| num_layers: 3 |
| num_heads: 8 |
| num_grasp_queries: 1000 |
| num_place_queries: 0 |
| use_attn_mask: true |
| use_task_embed: false |
| activation: GELU |
| pos_enc: new |
| action_decoder: |
| use_embed: false |
| conf_thresh: 0.5 |
| max_num_pred: null |
| hidden_dim: 256 |
| num_layers: 2 |
| activation: GELU |
| offset_bins: |
| - 0 |
| - 0.00794435329 |
| - 0.0158887021 |
| - 0.0238330509 |
| - 0.0317773996 |
| - 0.0397217484 |
| - 0.0476660972 |
| - 0.055610446 |
| - 0.0635547948 |
| - 0.0714991435 |
| - 0.08 |
| gripper_depth: 0.1034 |
| gripper_name: robotiq_2f_140 |
| matcher: |
| object_weight: 2.0 |
| bce_weight: 5.0 |
| dice_weight: 5.0 |
| grasp_loss: |
| object_weight: 2.0 |
| not_object_weight: 0.1 |
| pseudo_ce_weight: 0.0 |
| bce_topk: 512 |
| bce_weight: 5.0 |
| dice_weight: 5.0 |
| deep_supervision: true |
| recompute_indices: true |
| adds_pred2gt: 100.0 |
| adds_gt2pred: 0.0 |
| adds_per_obj: false |
| contact_dir: 0.0 |
| approach_dir: 0.0 |
| offset: 1.0 |
| offset_bin_weights: |
| - 0.16652107 |
| - 0.21488856 |
| - 0.37031708 |
| - 0.55618503 |
| - 0.75124664 |
| - 0.93943357 |
| - 1.07824539 |
| - 1.19423112 |
| - 1.55731375 |
| - 3.17161779 |
| gripper_name: robotiq_2f_140 |
| place_loss: |
| bce_topk: 1024 |
| bce_weight: 5.0 |
| dice_weight: 5.0 |
| deep_supervision: true |
| diffusion: |
| obs_backbone: pointnet |
| checkpoint_object_encoder_pretrained: null |
| num_embed_dim: 256 |
| num_obs_dim: 512 |
| diffusion_embed_dim: 512 |
| image_size: 256 |
| num_diffusion_iters: 10 |
| num_diffusion_iters_eval: 10 |
| compositional_schedular: true |
| loss_pointmatching: false |
| loss_l1_pos: true |
| loss_l1_rot: true |
| grasp_repr: r3_so3 |
| kappa: 2.02217 |
| clip_sample: true |
| beta_schedule: squaredcos_cap_v2 |
| npn_architecture: ffn |
| attention: cat_attn |
| gripper_name: robotiq_2f_140 |
| pose_repr: mlp |
| num_grasps_per_object: 500 |
| ptv3: |
| grid_size: 0.01 |
| discriminator: |
| checkpoint: graspgen_robotiq_2f_140_dis.pth |
| checkpoint_object_encoder_pretrained: null |
| obs_backbone: pointnet |
| num_embed_dim: 256 |
| num_obs_dim: 512 |
| grasp_repr: r3_so3 |
| pose_repr: mlp |
| topk_ratio: 0.75 |
| kappa: 2.02217 |
| gripper_name: robotiq_2f_140 |
| ptv3: |
| grid_size: 0.01 |
| optimizer: |
| type: ADAMW |
| base_batch_size: 128 |
| base_lr: 0.0008 |
| backbone_multiplier: 1.0 |
| grad_clip: -1 |
| weight_decay: 0.05 |
| lr_scale_multiplier: 1.0 |
| lr: 5.0e-05 |
| momentum: 0.9 |
| train: |
| model_name: m2t2 |
| num_gpus: 1 |
| port: '1234' |
| mask_thresh: 0.0 |
| batch_size: 8 |
| num_workers: 8 |
| num_epochs: 160 |
| print_freq: 25 |
| plot_freq: 50 |
| save_freq: 10 |
| eval_freq: 5 |
| checkpoint: null |
| log_dir: '' |
| num_scenes: null |
| debug: false |
| debug_ddp: false |
| eval: |
| model_name: diffusion-discriminator |
| task: pick |
| split: valid |
| first_scene: -1 |
| last_scene: 1000 |
| scene: null |
| acronym_dir: '' |
| checkpoint: graspgen_robotiq_2f_140_gen.pth |
| output_dir: null |
| exp_name: null |
| cam_coord: false |
| object_thresh: 0.0 |
| mask_thresh: 0.6 |
| seed_thresh: null |
| num_seed_grasps: 150 |
| max_num_grasps: 200 |
| retract: 0.0 |
| grid_res: 0.01 |
| placement_height: 0.02 |
| placement_vis_radius: 0.2 |
| batch_size: 1 |
| num_workers: 1 |
| print_freq: 1 |
| num_procs: 4 |
| num_vis: 5 |
| num_runs: 1 |
| debug: true |
| scene_file: '' |
| output_file: '' |
| meshcat: |
| visualize: true |
| point_size: 0.01 |
| line_width: 2 |
| obj: |
| scale: 1.0 |
| num_sample_points: 2024 |
|
|
